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Li Z, Duraiswami R, Grassi E, Davis LS.  2004.  Flexible layout and optimal cancellation of the orthonormality error for spherical microphone arrays. Acoustics, Speech, and Signal Processing, 2004. Proceedings. (ICASSP '04). IEEE International Conference on. 4:iv-41-iv-44vol.4-iv-41-iv-44vol.4.